CN112693409A

CN112693409A - Drive-by-wire chassis motion control system and method

Info

Publication number: CN112693409A
Application number: CN202110112649.2A
Authority: CN
Inventors: 张岩; 董伟民; 邱照强
Original assignee: Lingong Group Jinan Heavy Machinery Co Ltd
Current assignee: Lingong Group Jinan Heavy Machinery Co Ltd
Priority date: 2021-01-27
Filing date: 2021-01-27
Publication date: 2021-04-23

Abstract

The embodiment of the invention discloses a system and a method for controlling the motion of a drive-by-wire chassis. The system, comprising: the system comprises an environment perception subsystem, a drive-by-wire subsystem, a brake-by-wire subsystem, a steering-by-wire subsystem, a lift-by-wire subsystem, a whole vehicle electrical subsystem and a whole vehicle control center. By adopting the technical means, the purposes of improving the vehicle control precision and easily realizing production can be achieved.

Description

Drive-by-wire chassis motion control system and method

Technical Field

The embodiment of the invention relates to the technical field of unmanned driving, in particular to a system and a method for controlling the motion of a drive-by-wire chassis.

Background

With the rapid development and the gradual maturity of the unmanned technology, a sensing layer, a decision layer, a control layer and an execution layer included in the unmanned technology become a hot direction for industrial research. The technical scheme of the drive-by-wire chassis system supporting the unmanned vehicle is more and more researched, and various research results are shown. However, the conventional drive-by-wire chassis system technology is mainly based on the chassis modification of the conventional vehicle, and the drive-by-wire is realized by additionally arranging a servo motor on the conventional braking, steering and driving system.

The drive-by-wire chassis modified by the method has the defects of difficult modification, lower control precision, poor reliability, difficulty in realizing batch production and difficulty in meeting the requirement of mass production.

Therefore, a linear control chassis motion control system is needed to achieve the purpose of improving the control accuracy and facilitating the production.

Disclosure of Invention

The invention provides a system and a method for controlling the motion of a linear control chassis, which aim to improve the control precision and easily realize the production.

In a first aspect, an embodiment of the present invention provides a drive-by-wire chassis motion control system, including:

the system comprises an environment perception subsystem, a drive-by-wire subsystem, a brake-by-wire subsystem, a steering-by-wire subsystem, a lift-by-wire subsystem, a whole vehicle electrical subsystem and a whole vehicle control center; the environment sensing subsystem is electrically connected with the whole vehicle control center; the drive-by-wire subsystem is electrically connected with the whole vehicle control center; the brake-by-wire subsystem is electrically connected with the whole vehicle control center; the steer-by-wire subsystem is electrically connected with the whole vehicle control center; the wire control lifting subsystem is electrically connected with the whole vehicle control center; the whole vehicle electrical subsystem is electrically connected with the whole vehicle control center;

the environment perception subsystem is used for constructing an environment map and sending an environment signal to the vehicle control center;

the drive-by-wire subsystem is used for automatically driving a vehicle to run according to a first instruction, wherein the first instruction is sent to the drive-by-wire subsystem by the whole vehicle control center;

the brake-by-wire subsystem is used for automatically braking the vehicle according to a second instruction, wherein the second instruction is sent to the brake-by-wire subsystem by the whole vehicle control center;

the steer-by-wire subsystem is used for steering the vehicle in an automatic driving state according to a third instruction, wherein the third instruction is sent to the steer-by-wire subsystem by the whole vehicle control center;

the line-control lifting subsystem is used for controlling a lifting valve to drive a lifting cylinder according to a fourth instruction so as to enable the lifting cylinder to dump hydraulic oil in a hydraulic oil tank; the fourth instruction is sent to the drive-by-wire lifting subsystem by the whole vehicle control center;

and the whole vehicle electrical subsystem is used for controlling electrical equipment in the vehicle.

In a second aspect, an embodiment of the present invention further provides a drive-by-wire chassis motion control method, which is executed by a drive-by-wire chassis motion control system, where the drive-by-wire chassis motion control system includes an environment sensing subsystem, a drive-by-wire subsystem, a brake-by-wire subsystem, a steer-by-wire subsystem, a lift-by-wire subsystem, a vehicle electrical subsystem, and a vehicle control center, and the method includes:

an environment map is constructed through the environment perception subsystem, and an environment signal is sent to the vehicle control center;

automatically driving a vehicle to run through the drive-by-wire subsystem according to a first instruction, wherein the first instruction is sent to the drive-by-wire subsystem by the whole vehicle control center;

automatically braking the vehicle through the brake-by-wire subsystem according to a second instruction, wherein the second instruction is sent to the brake-by-wire subsystem by the whole vehicle control center;

steering the vehicle by the steer-by-wire subsystem in an automatic driving state according to a third instruction, wherein the third instruction is sent to the steer-by-wire subsystem by the whole vehicle control center;

controlling a lifting valve to drive a lifting cylinder through the line-control lifting subsystem according to a fourth instruction so as to enable the lifting cylinder to dump hydraulic oil in a hydraulic oil tank; the fourth instruction is sent to the drive-by-wire lifting subsystem by the whole vehicle control center;

and controlling electrical equipment in the vehicle through the whole vehicle electrical subsystem.

The embodiment of the invention provides a motion control system of a drive-by-wire chassis, which comprises: the system comprises an environment perception subsystem, a drive-by-wire subsystem, a brake-by-wire subsystem, a steering-by-wire subsystem, a lift-by-wire subsystem, a whole vehicle electrical subsystem and a whole vehicle control center. By adopting the technical means, the purposes of improving the vehicle control precision and easily realizing production can be achieved.

Drawings

Fig. 1a is a schematic structural diagram of a motion control system of a drive-by-wire chassis according to a first embodiment of the present invention;

FIG. 1b is a schematic diagram of a configuration of a drive-by-wire subsystem according to a first embodiment of the present invention;

fig. 1c is a schematic diagram of an architecture of a linear control mover system according to a first embodiment of the present invention;

FIG. 1d is a schematic diagram of an architecture of a steer-by-wire subsystem according to a first embodiment of the present invention;

FIG. 1e is a schematic diagram of an architecture of a lift-by-wire subsystem according to a first embodiment of the present invention;

fig. 1f is a schematic structural diagram of a vehicle control center according to a first embodiment of the present invention;

fig. 2 is a schematic flow chart of a method for controlling motion of a drive-by-wire chassis according to a second embodiment of the present invention;

fig. 3 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, subprograms, and the like.

Example one

Fig. 1a is a schematic structural diagram of a drive-by-wire chassis motion control system 10 according to a first embodiment of the present invention, which can be applied to control an unmanned vehicle, and the system includes: the system comprises an environment perception subsystem 110, a drive-by-wire subsystem 120, a drive-by-wire subsystem 130, a steer-by-wire subsystem 140, a lift-by-wire subsystem 150, a whole vehicle electrical subsystem 160 and a whole vehicle control center 170; the environment sensing subsystem 110 is electrically connected with the vehicle control center 170; the drive-by-wire subsystem 120 is electrically connected with the vehicle control center 170; the line control mover system 130 is electrically connected with the vehicle control center 170; the steer-by-wire subsystem 140 is electrically connected with the vehicle control center 170; the wire control lifting subsystem 150 is electrically connected with the whole vehicle control center 170; and the whole vehicle electrical subsystem 160 is electrically connected with the whole vehicle control center 170.

The environment sensing subsystem 110 is configured to construct an environment map and send an environment signal to the vehicle control center 170.

In this embodiment, optionally, the environmental perception subsystem 110 includes a laser sensor or a radar sensor.

The environment sensing subsystem 110 is used for sensing surrounding environment information, and can perform distance detection on the surrounding environment through a laser sensor or a radar mounted thereon. For example, whether an obstacle is encountered in front of the vehicle can be detected by a laser sensor, and an environment map is constructed according to the detected result, wherein the environment map comprises roads and the obstacle. In this embodiment, the entire vehicle control center 170 is configured to receive signals of each subsystem, and send an instruction according to the signals of the subsystems to control the vehicle to execute the instruction.

The drive-by-wire subsystem 120 is configured to automatically drive the vehicle to run according to a first instruction, where the first instruction is sent to the drive-by-wire subsystem 120 by the vehicle control center 170.

In this embodiment, the drive-by-wire subsystem 120 includes an engine 1210, an automatic transmission 1211, an electronic control system 1212, and a transmission system 1213; the engine 1210, the automatic transmission 1211, the electronic control system 1212 and the transmission system 1213 are electrically connected. Specifically, refer to the schematic diagram of the architecture of a drive-by-wire subsystem shown in fig. 1 b.

In this embodiment, the entire vehicle control center 170 sends a first command to the electronic control system 1212, where the first command includes an accelerator signal, and the electronic control system 1212 adjusts the engine 1210 to operate the engine 1210. The engine 1210 is fixedly connected with an input shaft of the automatic gearbox 1211, an output shaft of the automatic gearbox 1211 is fixedly connected with a transmission shaft, and the output shaft of the automatic gearbox 1211 is connected with a drive axle in parallel and outputs power to a rear axle part in the vehicle through a transmission system 1213. Further, the vehicle control center 170 can communicate with the automatic transmission 1211 according to the driving condition of the vehicle, so as to adjust the gear of the automatic transmission 1211, thereby implementing the speed control of the vehicle.

In this embodiment, after the vehicle control center 170 receives the signal of the manual driving state, the electric control system 1212 and the automatic transmission 1211 are manually controlled. After the vehicle control center 170 receives the signal of the automatic driving state, the vehicle control center 170 sends a driving signal to drive the vehicle to move forward. If the target signal of the actuator is different from the current state of the actuator in the automatic driving state, the entire vehicle control center 170 switches the automatic driving state to the manual driving state. Wherein, actuating mechanism includes steering wheel, accelerator pedal and gear shift handle. In this embodiment, no matter whether the vehicle control center 170 is in a manual driving state or an automatic driving state, if the environmental awareness subsystem 110 detects that the vehicle is seriously deviated from the road or a relatively large obstacle occurs, the vehicle control center 170 may issue a parking instruction to the drive-by-wire subsystem 120, so that the drive-by-wire subsystem 120 stops driving the vehicle, thereby avoiding a problem of switching between driving states of the vehicle. Specifically, when the vehicle control center 170 decelerates, the vehicle control center communicates with the electronic control system 1212 and opens the engine 1210 to brake at a slow speed, so as to decelerate the vehicle, and the automatic transmission 1211 adjusts the gear accordingly.

Further, the drive-by-wire subsystem 120 can be adjusted according to the condition of the tire management system, specifically, the tire temperature and pressure sensor of the tire management system detects the tire temperature and pressure signal and sends the tire temperature and pressure signal to the vehicle control center 170. The vehicle control center 170 determines whether the tire temperature and the tire pressure exceed a critical value, and if the tire temperature and the tire pressure exceed the critical value, the vehicle control center 170 controls the engine 1210 in the drive-by-wire subsystem 120 to decelerate and brake, and simultaneously controls the automatic transmission 1211 to adjust the gear of the automatic transmission 1211. When detecting that the tire temperature and the tire pressure are abnormal, the vehicle control center 170 sends an abnormal signal to the voice alarm to prompt a worker that the tire has an abnormal problem.

The line control subsystem 130 for automatically braking the vehicle according to a second command, wherein the second command is sent to the line control subsystem 130 by the vehicle control center 170;

in this embodiment, optionally, the line control subsystem 130 includes an electronically controlled brake system 1310, a master brake valve 1311, a single mode valve 1312, a dual mode valve 1313, an ABS valve 1314, an APU1315, a parking brake valve 1316, a front wheel speed sensor 1317, and a pedal valve 1318; wherein the single mode valve 1312 is in series with the ABS valve 1314; the bimodal valve 1313 is in series with the ABS valve 1314; the single mode valve 1312 is in parallel with the dual mode valve 1313; the electronically controlled brake system 1310, the master brake valve 1311, the single mode valve 1312, the dual mode valve 1313, the ABS valve 1314, the APU1315, and the parking brake valve 1316 are electrically connected to the front wheel speed sensor 1317. Specifically, refer to an architecture diagram of a linear control mover system shown in fig. 1 c.

In this embodiment, an APU (Accelerated Processing Unit) has the Processing performance of a high-performance processor and the latest independent graphics card. In this embodiment, when detecting that an obstacle exists in the surrounding environment, the environmental sensing subsystem 110 sends an environmental signal to the entire vehicle control center 170, and the entire vehicle control center 170 sends a second instruction to the line control subsystem 130. Wherein the second instruction comprises a slow down instruction. Specifically, the entire vehicle control center 170 issues a second command to the electronically controlled brake system 1310, and the electronically controlled brake system 1310 receives the command and controls the APU1315, the single mode valve 1312, the dual mode valve 1313, the ABS valve 1314, and the parking brake valve 1316 to brake.

In this embodiment, the electrically controlled braking system 1310 is powered by the battery box, and can receive the second instruction issued by the vehicle control center 170, and issue the switching value signal to control part of the electromagnetic valves.

In this embodiment, the single mode valve 1312 is powered by the electronically controlled brake system 1310 and can receive a control signal from the electronically controlled brake system 1310, wherein the single mode valve 1312 is connected to the front wheel speed sensors 1317 on the left and right sides of the front axle and can receive a front wheel speed feedback signal and adjust according to the front wheel speed feedback signal.

In this embodiment, the dual mode valve 1313 is powered by the electrically controlled brake system 1310 and can receive a control signal of the electrically controlled brake system 1310, wherein the dual mode valve 1313 is connected to the front wheel rotation speed sensors 1317 on the left and right sides of the rear axle and can receive a front wheel rotation speed feedback signal and adjust according to the front wheel rotation speed feedback signal.

In this embodiment, the pedal valve 1318 and the ABS valve 1314 are powered by the electrically controlled brake system 1310, and receive the switching value signal sent by the electrically controlled brake system 1310.

The steer-by-wire subsystem 140 is configured to steer the vehicle in an automatic driving state according to a third instruction, where the third instruction is sent to the steer-by-wire subsystem 140 by the vehicle control center 170.

In this embodiment, the steer-by-wire subsystem 140 includes a steer-by-wire driver 1410, a steer-by-wire steering wheel 1411, a steering gear 1412, a priority valve 1413, a twin pump 1414, a hydraulic tank 1415, a steering cylinder 1416, and a steering angle sensor 1417; the steer-by-wire driver 1410 is electrically connected to the steering gear 1412; the steer-by-wire actuator 1410, the steering gear 1412, the priority valve 1413, the dual pump 1414 and the hydraulic reservoir 1415 are electrically connected; the steering gear 1412, the steering cylinder 1416 and the rotation angle sensor 1417 are electrically connected to the steer-by-wire wheel 1411. Specifically, refer to fig. 1d, which is a schematic diagram of an architecture of a steer-by-wire subsystem.

In this embodiment, in the automatic driving state, the entire vehicle control center 170 issues a third instruction to the steer-by-wire driver 1410 in the steer-by-wire subsystem 140 according to the attitude information of the vehicle itself, where the third instruction includes a target steering angle signal. The steer-by-wire driver 1410 controls the steer-by-wire wheel 1411 to rotate by a target angle, hydraulic oil in the hydraulic oil tank 1415 is pressurized by the double pump 1414 and is preferentially distributed to the steering gear 1412 through the priority valve 1413, and the steering oil cylinder 1416 is driven to operate by the steering gear 1412. In the above process, the steering angle sensor 1417 detects the steering angle of the front axle in real time, and adjusts the steer-by-wire wheel 1411 according to the acquired steering angle signal to perform steering angle control. In the manual driving state, the steer-by-wire wheel 1411 is steered according to the actual amount of rotation of the operator.

Specifically, when the third command is not received by the steering actuator 1410, the twin pump 1414 draws oil from the hydraulic tank 1415 and the front pump outlet feeds oil to the inlet of the priority valve 1413. When the steer-by-wire driver 1410 receives a third instruction, the duplex pump 1414 sucks oil from the hydraulic oil tank 1415, the oil outlet of the front pump supplies oil to the oil inlet of the priority valve 1413, the steering gear 1412 controls the oil outlet CF of the priority valve 1413 through the LS port, and simultaneously reduces the flow of the oil outlet EF of the priority valve 1413, and preferentially ensures the flow of the oil outlet CF of the priority valve 1413; hydraulic oil flows into a steering cylinder 1416 from a port of a steering gear 1412L, and steering of the vehicle is guaranteed. Meanwhile, hydraulic oil flows out of a port of the steering oil cylinder 1416R, passes through a port of the steering gear 1412R, and flows back to the hydraulic oil tank 1415 from the steering gear 1412. When the steering angle sensor 1417 detects that the input steering angle coincides with the actual steering angle, a steering angle signal is fed back to the steer-by-wire wheel 1411, and the steer-by-wire wheel 1411 controls the steering gear 1412 to maintain the steering angle.

The wire control lifting subsystem 150 is used for controlling a lifting valve to drive a lifting cylinder according to a fourth instruction so as to enable the lifting cylinder to dump hydraulic oil in a hydraulic oil tank; wherein the fourth command is sent by the entire vehicle control center 170 to the wire-controlled lifting subsystem 150.

Optionally, the lift-by-wire subsystem 150 includes a steering system 1510, a priority valve 1413, a duplex pump 1414, a hydraulic reservoir 1415, a lift cylinder 1520, a lift valve 1530, a vent solenoid valve 1540, and a central control pod 1550; the steering system 1510, the priority valve 1413, the dual pump 1414, the hydraulic oil tank 1415, the lift valve 1530, the lift cylinder 1520, and the vent solenoid valve 1540 are electrically connected to the central control box 1550. Specifically, refer to the schematic diagram of the architecture of the demand control lifting subsystem shown in fig. 1 e.

In this embodiment, the entire vehicle control center 170 sends a fourth instruction, where the fourth instruction includes a remote instruction, and the remote instruction is issued to the entire vehicle control center 170 by a worker. After receiving the fourth command, the vehicle control center 170 controls the air hole solenoid valve 1540 to open and close through the central control box 1550, and controls the lifting valve 1530 to drive the lifting cylinder 1520, thereby completing the lifting operation. When the vehicle is stopped and the vehicle is not steered, the priority valve 1413 controls the oil line to perform a lifting operation, and the hydraulic oil in the hydraulic oil tank 1415 is pressurized by the twin pump 1414 to the lifting valve 1530 to drive the lifting cylinder 1520 to perform an operation.

When the whole vehicle control center 170 does not receive the fourth instruction, the duplex pump 1414 sucks oil from the hydraulic oil tank 1415, the oil outlet of the rear pump supplies oil to the oil inlet (P) of the lifting valve 1530, the air hole solenoid valve 1540 keeps 1 position, the oil outlet (a) of the lifting valve 1530 is closed, the oil return port (T1) of the lifting valve 1530 is opened, and the hydraulic oil flows back to the hydraulic oil tank 1415 through the oil return port (T1).

When the whole vehicle control center 170 receives the lifting signal in the fourth instruction, the duplex pump 1414 sucks oil from the hydraulic oil tank 1415, and an oil outlet of the rear pump supplies oil to an oil inlet (P) of the lifting valve 1530; the air vent solenoid valve 1540 maintains the 4 position and the 5 position, supplies air to the port 1 of the lift valve 1530a, controls the oil outlet (a) of the lift valve 1530 to be opened, and controls the oil return port (T1) of the lift valve 1530 to be closed, thereby lifting the lift cylinder 1520. When the cargo box of the vehicle is raised to a predetermined angle, the lift limit valve is opened, opening port 1530a1 of the lift valve, and the lift cylinder 1520 remains raised.

When the vehicle control center 170 receives the descending signal in the fourth instruction, the duplex pump 1414 sucks oil from the hydraulic oil tank 1415, and an oil outlet of the rear pump supplies oil to an oil inlet (P) of the lift valve 1530; the vent solenoid valve 1540 maintains the 2 position and the 3 position, and supplies air to the port 1530b 1; the outlet port (a) of the lift valve 1530 is opened, the return port (T1) of the lift valve 1530 is opened, and the hydraulic oil flows back to the hydraulic oil tank 1415 through the return port (T1) of the lift valve 1530 (a).

The entire vehicle electrical subsystem 160 is used for controlling electrical devices inside the vehicle.

In this embodiment, optionally, the entire vehicle electrical subsystem 160 includes a manual switch 1610, a single-mode relay 1620, a dual-mode relay 1630, and an actuator 1640; the manual switch 1610 is electrically connected to the vehicle control center 170, and the vehicle control center 170, the single-mode relay 1620, the dual-mode relay 1630 are electrically connected to the actuator 1640.

In this embodiment, the electrical device may be a lamp inside a vehicle. For example, the manual switch 1610 turns on a ground signal and sends the signal to the vehicle control center 170, the vehicle control center 170 outputs the ground signal to the single-mode relay 1620, the coil control positive end of the single-mode relay 1620 and the ground signal of the coil control negative end form a loop, the ground signal of the load end is connected to the coil negative end of the dual-mode relay 1630, the power supply of the load end is connected to the actuator 1640 for supplying power after the dual-mode relay 1630 is attracted, and the actuator 1640 works. Specifically, refer to a schematic structural diagram of a vehicle control center shown in fig. 1 f.

Example two

Fig. 2 is a schematic flow chart of a drive-by-wire chassis motion control method according to a second embodiment of the present invention, where the method may be executed by a drive-by-wire chassis motion control system, and the drive-by-wire chassis motion control system includes an environment sensing subsystem, a drive-by-wire subsystem, a brake-by-wire subsystem, a steer-by-wire subsystem, a lift-by-wire subsystem, a vehicle electrical subsystem, and a vehicle control center. The device can be realized in a software and/or hardware mode, can be integrated in electronic equipment, and specifically comprises the following steps:

s210, an environment map is constructed through the environment perception subsystem, and an environment signal is sent to the whole vehicle control center.

And S220, automatically driving the vehicle to run through the drive-by-wire subsystem according to a first instruction, wherein the first instruction is sent to the drive-by-wire subsystem by the whole vehicle control center.

And S230, automatically braking the vehicle through the brake-by-wire subsystem according to a second instruction, wherein the second instruction is sent to the brake-by-wire subsystem by the whole vehicle control center.

S240, steering the vehicle through the steer-by-wire subsystem in an automatic driving state according to a third instruction, wherein the third instruction is sent to the steer-by-wire subsystem by the whole vehicle control center.

S250, controlling a lifting valve to drive a lifting cylinder through the line-control lifting subsystem according to a fourth instruction so that the lifting cylinder dumps hydraulic oil in a hydraulic oil tank; and the fourth instruction is sent to the drive-by-wire lifting subsystem by the whole vehicle control center.

And S260, controlling electrical equipment in the vehicle through the whole vehicle electrical subsystem.

Optionally, the automatically braking the vehicle according to the second instruction by the brake-by-wire subsystem includes:

if the environment sensing subsystem detects that obstacles exist in the surrounding environment, an environment signal is sent to the vehicle control center; wherein the environment signal comprises a vehicle deceleration instruction;

receiving the vehicle deceleration instruction through the whole vehicle control center, and sending a first instruction to the brake-by-wire subsystem according to the vehicle deceleration instruction;

and the brake-by-wire subsystem is used for controlling the APU, the single mode valve, the double mode valve, the ABS valve and the parking valve to work so as to decelerate and brake the vehicle.

Optionally, the steering by wire control subsystem steers the vehicle in an automatic driving state according to a third instruction, including:

when the environment perception subsystem detects that a curve exists in the surrounding environment, an environment signal is sent to the vehicle control center; wherein the environmental signal comprises a vehicle steering command;

receiving the vehicle steering instruction through the whole vehicle control center, and sending the third instruction to the steer-by-wire subsystem according to the vehicle steering instruction;

and controlling the steer-by-wire through the steer-by-wire subsystem so that the steer-by-wire controls the steering device and controls the steering of the vehicle.

The embodiment of the invention provides a motion control method of a drive-by-wire chassis, which comprises the steps of constructing an environment map through an environment perception subsystem and sending an environment signal to a vehicle control center; automatically driving a vehicle to run through the drive-by-wire subsystem according to a first instruction, wherein the first instruction is sent to the drive-by-wire subsystem by the whole vehicle control center; automatically braking the vehicle through the brake-by-wire subsystem according to a second instruction, wherein the second instruction is sent to the brake-by-wire subsystem by the whole vehicle control center; steering the vehicle by the steer-by-wire subsystem in an automatic driving state according to a third instruction, wherein the third instruction is sent to the steer-by-wire subsystem by the whole vehicle control center; controlling a lifting valve to drive a lifting cylinder through the line-control lifting subsystem according to a fourth instruction so as to enable the lifting cylinder to dump hydraulic oil in a hydraulic oil tank; the fourth instruction is sent to the drive-by-wire lifting subsystem by the whole vehicle control center; and controlling electrical equipment in the vehicle through the whole vehicle electrical subsystem. By adopting the technical means, the purposes of improving the vehicle control precision and easily realizing production can be achieved.

EXAMPLE III

Fig. 3 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention, and fig. 3 is a schematic structural diagram of an exemplary device suitable for implementing the embodiment of the present invention. The device 12 shown in fig. 3 is only an example and should not bring any limitations to the functionality and scope of use of the embodiments of the present invention.

As shown in FIG. 3, device 12 is in the form of a general purpose computing device. The components of device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.

Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by device 12 and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 3, and commonly referred to as a "hard drive"). Although not shown in FIG. 3, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.

A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of embodiments described herein.

Device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with device 12, and/or with any devices (e.g., network card, modem, etc.) that enable device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, the device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via the network adapter 20. As shown in FIG. 3, the network adapter 20 communicates with the other modules of the device 12 via the bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processing unit 16 executes various functional applications and data processing by running a program stored in the system memory 28, for example, to implement a method for controlling motion of a drive-by-wire chassis provided by an embodiment of the present invention, including:

Example four

A fourth embodiment of the present invention further provides a computer-readable storage medium, on which a computer program (or referred to as a computer-executable instruction) is stored, where the computer program, when executed by a processor, can implement a method for controlling a motion of a drive-by-wire chassis according to any of the embodiments described above, where the method includes:

Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A drive-by-wire chassis motion control system, comprising:

2. The system of claim 1, wherein the environmental perception subsystem comprises a laser sensor or a radar sensor.

3. The system of claim 1, wherein the drive-by-wire subsystem comprises an engine, an automatic transmission, an electronic control system, and a transmission system; the engine, the automatic gearbox, the electric control system and the transmission system are electrically connected.

4. The system of claim 1, wherein the brake-by-wire subsystem comprises an electronically controlled brake system, a master brake valve, a single mode valve, a dual mode valve, an ABS valve, an APU, a parking brake valve, and a front wheel speed sensor; wherein the single mode valve is in series with the ABS valve; the dual-mode valve is connected with the ABS valve in series; the single-mode valve is connected with the double-mode valve in parallel; the electric control brake system, the main brake valve, the single mode valve, the dual mode valve, the ABS valve, the APU and the parking brake valve are electrically connected with the front wheel rotating speed sensor.

5. The system of claim 1, wherein the steer-by-wire subsystem comprises a steer-by-wire drive, a steer-by-wire steering wheel, a steering gear, a priority valve, a dual pump, a hydraulic reservoir, a steering cylinder, and a steering angle sensor; the steer-by-wire driver is electrically connected with the steering gear; the steer-by-wire driver, the steering gear, the priority valve and the duplex pump are electrically connected with the hydraulic oil tank; the steering gear, the steering oil cylinder and the corner sensor are electrically connected with the wire control steering wheel.

6. The system of claim 1, wherein the lift-by-wire subsystem comprises a steering system, a priority valve, a dual pump, a hydraulic tank, a lift cylinder, a lift valve, a vent solenoid valve, and a central control box; wherein, a steering system, the priority valve, the duplex pump, hydraulic tank, the valve of lifting, the jar of lifting, the gas pocket solenoid valve with central control box electric connection.

7. The system of claim 1, wherein the entire vehicle electrical subsystem comprises a manual switch, a single mode relay, a dual mode relay, and an actuator; the manual switch is electrically connected with the whole vehicle control center, and the whole vehicle control center, the single-mode relay, the dual-mode relay and the actuator are electrically connected.

8. A drive-by-wire chassis motion control method is characterized by being executed by a drive-by-wire chassis motion control system, wherein the drive-by-wire chassis motion control system comprises an environment perception subsystem, a drive-by-wire subsystem, a brake-by-wire subsystem, a steering-by-wire subsystem, a lift-by-wire subsystem, a finished automobile electrical subsystem and a finished automobile control center, and the method comprises the following steps:

9. The method of claim 8, wherein automatically braking the vehicle according to a second command via the brake-by-wire subsystem comprises:

10. The method of claim 8, wherein steering the vehicle in the autonomous driving state according to a third command via the steer-by-wire subsystem comprises: